forked from logzhan/ORB-SLAM3-UESTC
82 lines
3.2 KiB
C
82 lines
3.2 KiB
C
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/**
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* This file is part of ORB-SLAM3
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*
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* Copyright (C) 2017-2021 Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
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* Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
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*
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* ORB-SLAM3 is free software: you can redistribute it and/or modify it under the terms of the GNU General Public
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* License as published by the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* ORB-SLAM3 is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even
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* the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along with ORB-SLAM3.
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef CONVERTER_H
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#define CONVERTER_H
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#include<opencv2/core/core.hpp>
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#include<Eigen/Dense>
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#include"Thirdparty/g2o/g2o/types/types_six_dof_expmap.h"
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#include"Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h"
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#include "Thirdparty/Sophus/sophus/geometry.hpp"
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#include "Thirdparty/Sophus/sophus/sim3.hpp"
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namespace ORB_SLAM3
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{
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class Converter
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{
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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static std::vector<cv::Mat> toDescriptorVector(const cv::Mat &Descriptors);
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static g2o::SE3Quat toSE3Quat(const cv::Mat &cvT);
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static g2o::SE3Quat toSE3Quat(const Sophus::SE3f &T);
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static g2o::SE3Quat toSE3Quat(const g2o::Sim3 &gSim3);
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// TODO templetize these functions
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static cv::Mat toCvMat(const g2o::SE3Quat &SE3);
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static cv::Mat toCvMat(const g2o::Sim3 &Sim3);
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static cv::Mat toCvMat(const Eigen::Matrix<double,4,4> &m);
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static cv::Mat toCvMat(const Eigen::Matrix<float,4,4> &m);
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static cv::Mat toCvMat(const Eigen::Matrix<float,3,4> &m);
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static cv::Mat toCvMat(const Eigen::Matrix3d &m);
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static cv::Mat toCvMat(const Eigen::Matrix<double,3,1> &m);
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static cv::Mat toCvMat(const Eigen::Matrix<float,3,1> &m);
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static cv::Mat toCvMat(const Eigen::Matrix<float,3,3> &m);
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static cv::Mat toCvMat(const Eigen::MatrixXf &m);
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static cv::Mat toCvMat(const Eigen::MatrixXd &m);
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static cv::Mat toCvSE3(const Eigen::Matrix<double,3,3> &R, const Eigen::Matrix<double,3,1> &t);
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static cv::Mat tocvSkewMatrix(const cv::Mat &v);
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static Eigen::Matrix<double,3,1> toVector3d(const cv::Mat &cvVector);
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static Eigen::Matrix<float,3,1> toVector3f(const cv::Mat &cvVector);
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static Eigen::Matrix<double,3,1> toVector3d(const cv::Point3f &cvPoint);
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static Eigen::Matrix<double,3,3> toMatrix3d(const cv::Mat &cvMat3);
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static Eigen::Matrix<double,4,4> toMatrix4d(const cv::Mat &cvMat4);
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static Eigen::Matrix<float,3,3> toMatrix3f(const cv::Mat &cvMat3);
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static Eigen::Matrix<float,4,4> toMatrix4f(const cv::Mat &cvMat4);
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static std::vector<float> toQuaternion(const cv::Mat &M);
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static bool isRotationMatrix(const cv::Mat &R);
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static std::vector<float> toEuler(const cv::Mat &R);
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//TODO: Sophus migration, to be deleted in the future
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static Sophus::SE3<float> toSophus(const cv::Mat& T);
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static Sophus::Sim3f toSophus(const g2o::Sim3& S);
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};
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}// namespace ORB_SLAM
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#endif // CONVERTER_H
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